Mecanum Wheel Omnidirectional Robot Platform
Vector kinematics for 4-wheel independent holonomic drive capable of strafing, diagonal movement, and rotation.
Project Overview
Understand the mathematics of holonomic drive by implementing inverse kinematics for a 4-wheel Mecanum chassis.
Topics Covered
- Force vector decomposition for 45-degree rollers
- Independent encoder velocity control loops
- Wireless joystick control with strafe and spin mixing
- Payload testing and acceleration ramping